A smart collection method for deep-sea polymetallic nodules

Abstract

The present invention provides an intelligent collection method for deep-sea polymetallic nodules. The steps are as follows: S1, capturing nodule images through a seabed camera on a mining vehicle; S2, grayscale processing of the collected images; S3, binarization of the pre-processed nodule images; S4, dilation of the processed nodule images based on a morphological reconstruction method; S5, determining the nodule particle size and shape; S6, comparing with existing nodule data to determine the nodule quality; S8, selecting the optimal forward route for the mining vehicle and determining the forward route working conditions; S9, further adjusting the jet parameters based on the determined information; S10, collecting nodules flushed by the jet; S11, lifting the collected nodules to a collection vessel; S12, testing the collection results in the mining area; S13, continuing collection if the collection results do not meet the standards, and ending collection if the collection results meet the standards. Through the above steps, an intelligent and efficient collection system for deep-sea polymetallic nodules is formed.

Description

Technical Field

[0001] The present invention relates to the fields of marine engineering and mineral resource mining, and in particular to a method for intelligent collection of deep-sea polymetallic nodules. Background Art

[0002] Deep-sea polymetallic nodules, roughly the size of potatoes, are rich in strategic and reserve metals and are buried 4-6 kilometers below the seafloor. As terrestrial mineral deposits are being depleted at an alarming rate, the mining of deep-sea polymetallic nodules could become a viable alternative to terrestrial mining. The discovery of these valuable minerals deposited on or near the surface of the deep seafloor has sparked interest in exploring and developing these resources.

[0003] Deep-sea polymetallic nodules, a potentially rich mineral resource, have garnered widespread international attention. Deep-sea polymetallic nodule mining faces complex challenges, including high sea conditions, extreme depths, high pressure, lack of light, communication difficulties, and fluctuating ocean currents. Numerous scientific and engineering challenges must be addressed.

[0004] Deep-sea polymetallic nodule mining has made significant progress. Deep-sea mining systems primarily consist of three subsystems: seabed operations, ore transportation, and surface support. Seabed polymetallic nodule collection is the core technology of these seabed operations systems. The structure of the collection device is a key factor influencing nodule collection effectiveness. Appropriate geometry and collection parameters can not only improve nodule collection efficiency but also reduce the disturbance of surface seabed sediments during the collection process, thereby minimizing the impact on benthic organisms. Existing collection device structures and technologies lack intelligent adjustment based on polymetallic nodule abundance, resulting in low energy utilization and collection efficiency, and inability to effectively control plume generation. Therefore, there is an urgent need to develop an intelligent and efficient collection method based on polymetallic nodule abundance that can intelligently adjust collection to achieve intelligent and efficient polymetallic nodule collection, improve collection efficiency and rate, and minimize seabed disturbance.

[0005] Based on the above practical problems, existing patents and technologies have made certain designs and optimizations for deep-sea polymetallic nodule mining, but the following problems still exist:

[0006] In existing patents and technologies, most existing mining vehicles use fixed collection parameters for collection, failing to accurately collect polymetallic nodules of different particle sizes and abundances. The energy consumption during collection is high, making efficient collection impossible.

[0007] In existing patents and technologies, mining vehicles do not consider energy utilization, collection rate, collection efficiency, etc. to intelligently adjust collection parameters;

[0008] In existing patents and technologies, most mining vehicles have fixed travel speeds and collection head parameters, which cause high disturbance to the seabed and have a significant impact on plumes.

[0009] In existing patents and technologies, the collection route is not the optimal route, and there is no collection result detection system during mining operations. The collection efficiency and collection rate are relatively low, and the phenomenon of missed mining is serious;

[0010] In the existing patents and technologies, the existing mining vehicles do not take into account the collection adjustment of the mining vehicles under various working conditions, and the collection efficiency and energy utilization rate are low under complex working conditions. Summary of the Invention

[0011] The present invention aims to provide an intelligent method for collecting deep-sea polymetallic nodules. This method can achieve intelligent and precise collection of polymetallic nodules within a collection area and detect the collected results in the post-collection area. This method is beneficial for improving the polymetallic nodule collection rate, selecting the optimal route for mining vehicles, reducing energy consumption, minimizing missed mining, and reducing disturbance to seabed sediments, thereby improving collection efficiency. It has a positive and meaningful guiding role in the actual mining of deep-sea polymetallic nodules.

[0012] A method for intelligent collection of deep-sea polymetallic nodules, characterized by comprising the following steps:

[0013] S1. The seabed camera is mounted on a deep-sea polymetallic nodule mining vehicle. The camera is debugged in the sea area to be mined. After the debugging is completed and the mining work is ready, the mining work begins to capture images of the seabed polymetallic nodules.

[0014] S2, grayscale processing is performed on the collected images, and all collected images are converted into grayscale images;

[0015] S3, binarizing the pre-processed polymetallic nodule image and determining the optimal sensitivity;

[0016] S4. dilating the processed polymetallic nodule image by a morphological reconstruction method to further obtain a more accurate polymetallic nodule coverage rate;

[0017] S5. Identifying the processed polymetallic nodule image to determine whether it is circular or elliptical, and determining the particle size of the polymetallic nodules. The specific steps include:

[0018] Step (1): Use edge detection method to identify the edge of polymetallic nodules in the image, making the outline of polymetallic nodules more obvious;

[0019] Step (2): Use Hough circle transform and Hough ellipse transform to identify circles and ellipses in the image respectively;

[0020] Step (3): Verify the detected shapes to ensure that the correct circular and elliptical shapes are recognized after transformation;

[0021] Step (4): Count the circular and elliptical polymetallic nodules obtained in step (3), calculate the diameter of the circular nodules, the major axis length and the minor axis length of the elliptical nodules, and analyze their relationship with the nodule mass;

[0022] S6. Compare with existing nodule data to establish a linear relationship between mass and cross-sectional area to calculate the mass of polymetallic nodules. The steps mainly include:

[0023] Step (1): Measure the cross-sectional area and mass of the existing spheroidal and ellipsoidal nodules;

[0024] Step (2): Based on the relationship between mass and cross-sectional area, a linear relationship between mass and cross-sectional area of ​​spheroidal nodules and ellipsoidal nodules is established;

[0025] Step (3): Based on the circular and elliptical nodules in the collected images, a relationship is established between the diameter and the cross-sectional area of ​​the circular nodules, and a relationship is established between the major axis length and the minor axis length and the cross-sectional area of ​​the elliptical nodules;

[0026] Step (4): Substitute the nodule mass-cross-sectional area linear relationship in step (2) to obtain the nodule mass;

[0027] S7. Calculate the abundance of polymetallic nodules in the region based on the nodule mass;

[0028] S8. Comprehensively analyze and compare the energy utilization rate, collection rate, and collection efficiency that can be achieved on each route, select the optimal route for the mining vehicle, and determine the specific working conditions of the mining vehicle's route;

[0029] S9, based on the polymetallic nodule particle size determined by S5, the polymetallic nodule abundance determined by S7, and the mining vehicle's route and working conditions determined by S8, further collects parameters and makes intelligent adjustments. This is divided into Coanda effect-based collection and adjustment and double-row jet collection and adjustment, with the following characteristics:

[0030] (1) When using the Coanda effect-based jet collection, the specific steps are as follows:

[0031] Step (1): Transmitting the particle size and abundance information of polymetallic nodules to the intelligent adjustment module based on Coanda effect acquisition;

[0032] Step (2): The information in step (1) is transmitted to the nozzle jet velocity adjustment module and the vehicle forward speed adjustment module; further, the nozzle jet velocity is adjusted according to the particle size and abundance information of the polymetallic nodules, and low speed II, medium speed II, and high speed II are used to control the pressure of the ejected fluid by adjusting the water pressure or the air pressure, thereby achieving the purpose of adjusting the nozzle jet velocity. Further, the vehicle forward speed is adjusted according to the particle size and abundance information of the polymetallic nodules, and low speed III and high speed III are used to transmit the information to the vehicle central control system through the on-board intelligent sensor optimization algorithm to dynamically plan the vehicle driving speed;

[0033] (2) When using double-row jet collection, the specific steps are as follows:

[0034] Step (1): Transmitting the particle size and abundance information of polymetallic nodules to the double-row jet collection intelligent adjustment module;

[0035] Step (2): Transmit the information from step (1) to the nozzle jet velocity adjustment module and the nozzle activation quantity adjustment module; further, based on the particle size and abundance information of the polymetallic nodules, perform intelligent adjustment of the nozzle jet velocity, adopt low speed I and high speed I, and control the pressure of the ejected fluid by adjusting the water pressure or the air pressure, thereby achieving the purpose of adjusting the nozzle jet velocity. Further, based on the particle size and abundance information of the polymetallic nodules, perform intelligent adjustment of the nozzle activation quantity, receive the data transmitted by the detection system through the vehicle control system, and control and dynamically adjust the nozzle activation quantity;

[0036] Through intelligent adjustment of acquisition parameters, it can reduce unnecessary energy consumption, lower energy utilization, and improve acquisition efficiency. At the same time, it can use better acquisition parameters to reduce disturbance to seabed sediments and reduce the generation of plumes.

[0037] S10, collecting the polymetallic nodules flushed out by the jet through a suction device;

[0038] S11. lifting the collected polymetallic nodules to a collection vessel through a pipeline lifting system;

[0039] S12, testing the collection results of the mining area;

[0040] S13. Receive the detected result. If the collection rate does not reach 80%, repeat the steps after S8 to re-collect. If the collection result reaches more than 80%, end the collection.

[0041] In S2, the grayscale processing is to unify the RGB values ​​of each pixel of the image into the same value. After grayscale processing, the image changes from three channels to a single channel. The specific unification is done in the following way:

[0042]

[0043] in is the gray value of the position, , , They are the three color components of the pixel value RGB at that position respectively.

[0044] In S8, the mining vehicle operating conditions are divided into extremely soft sediments, heterogeneous sediments, steep seamounts, and rugged terrain.

[0045] In the S9, when the jet collection technology based on the Coanda effect is used, the height of the suction port is set to 100-120 mm, the height of the jet port is set to 20-25 mm, and 12 circular jet nozzles are arranged at the center, each nozzle has a diameter of d The height of the collection device from the seabed is 30-40 mm, and the nozzle spacing is 10-20 mm. H 60-120 mm, jet angle α 40-50°, convex surface wall radius R 300-400 mm.

[0046] In the above S9, when the double-row jet collection technology is used, the nozzle height is set H The distance between the front and rear nozzles is 40-45 mm B Set the front nozzle angle to 260-320 mm α The rear nozzle angle is 30-45° β The angle is 45-55 degrees. Twelve circular nozzles are set in double rows. Two opposite nozzles form a group of six groups. The diameter of each nozzle is d 10-15 mm.

[0047] In S9, when using the jet collection based on the Coanda effect, the nozzle jet velocity in step 2 v Specifically, the following types of speeds are used: Low Speed ​​II for small particle sizes: 6-12 m / s, preferably 8-10 m / s; Medium Speed ​​II for medium particle sizes: 8-13 m / s, preferably 11-12 m / s; and High Speed ​​II for large particle sizes: 11-16 m / s, preferably 12-14 m / s. The vehicle's forward speed in step 2 can be specifically divided into: Low Speed ​​III for small and medium particle sizes: 0.25-0.5 m / s, preferably 0.25-0.3 m / s; and High Speed ​​III for large particle sizes: 0.5-1 m / s, preferably 0.5-0.8 m / s.

[0048] In the above S9, when using double-row jet collection, the nozzle jet speed in step 2 can be specifically divided into: small and medium-sized nodules use low speed I: 8-13 m / s, preferably 11-13 m / s; large-sized nodules use high speed I: 11-16 m / s, preferably 13-15 m / s. In step 2, taking a 12-nozzle mining vehicle as an example, the number of double-row jet nozzles activated can be divided into: (1) small-sized nodules, activating 1-2 groups of nozzles, preferably 2 groups of nozzles; (2) medium-sized nodules, activating 3-4 groups of nozzles, preferably 3 groups of nozzles; (3) large-sized nodules, activating 5-6 groups of nozzles, preferably 5 groups of nozzles.

[0049] In the above-mentioned S10, the polymetallic nodules are collected mainly by suction. Under the push of a power device such as a water pump, the polymetallic nodules are sucked into the transfer station through a conveying hose.

[0050] In the above S11, the polymetallic nodule pipeline lifting system is carried out by hydraulic lifting, using the power of fluid lifting to overcome the static pressure of seawater and the gravity of the slurry itself, and realize vertical transportation of materials through the conveying hose.

[0051] Beneficial effects of the present invention:

[0052] 1. Compared with the existing technology, the present invention intelligently adjusts the collection parameters during the deep-sea polymetallic nodule collection process based on the particle size and abundance of polymetallic nodules. During the collection process based on the Coanda effect, the mining vehicle's travel speed is intelligently adjusted by the on-board intelligent sensor, and the nozzle jet velocity is intelligently adjusted by water pressure or air pressure. During the double-row jet collection process, the mining vehicle's control system intelligently adjusts the number of nozzles activated by the mining vehicle, and the nozzle jet velocity is intelligently adjusted by water pressure or air pressure, achieving precise collection.

[0053] 2. Compared with the existing technology, the present invention realizes the targeted and precise collection of deep-sea polymetallic nodules through intelligent adjustment of collection parameters by the central control system, thereby improving collection efficiency and reducing energy consumption;

[0054] 3. Compared with the existing technology, the present invention uses the collection result detection system to repeatedly collect the collection results, thereby improving the collection rate of deep-sea polymetallic nodules, which is expected to reach 90%, avoiding the waste of resources caused by excessive missed collection;

[0055] 4. Compared with the existing technology, the present invention realizes precise collection by intelligently adjusting the collection system through the control system, which reduces the disturbance to the seabed sediments and reduces the generation of plumes;

[0056] 5. Compared with the existing technology, the present invention takes into account the complexity and variability of the deep-sea environment, comprehensively considers the various working conditions of the mining vehicle during collection, selects the best route, and realizes intelligent adjustment for various complex working conditions under the premise of considering abundance, thereby improving the collection efficiency and collection rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 This is a step-by-step diagram of the precise collection method based on the abundance of deep-sea polymetallic nodules;

[0058] Figure 2 Schematic diagram of the deep-sea polymetallic nodule collection head and the location of the deep-sea camera;

[0059] Figure 3 Schematic diagram of deep-sea polymetallic nodule collection technology based on the Coanda effect;

[0060] Figure 4 Schematic diagram of the double-row jet collection technology for deep-sea polymetallic nodules.

[0061] In the figure, 1. The main device of the collection head, 2. The nodule output port, 3. The combined transition chamber, 4. The jet device, 5. The deep-sea camera. DETAILED DESCRIPTION

[0062] The following examples will clearly and completely demonstrate the objectives, technical solutions, and advantages of the present invention. Obviously, the examples described are only partial examples of the present invention, not all examples. They are representative and serve to illustrate the present application.

[0063] This embodiment provides a method for intelligent collection of deep-sea polymetallic nodules, which is characterized by comprising the following steps:

[0064] S1. Mount the submarine camera on the deep-sea polymetallic nodule mining vehicle and debug the camera in the sea area to be mined. After debugging is completed and the mining work is ready, start the mining work and capture the images of the submarine polymetallic nodules.

[0065] S2. Grayscale the collected images. Convert all collected images into grayscale images. Unify the RGB values ​​of each pixel of the image into the same value based on the average value method. Convert all collected images into grayscale images. The formula is as follows:

[0066]

[0067] in is the gray value of the position, , , They are the three color components of the pixel value RGB at that position respectively.

[0068] S3. Binarize the preprocessed polymetallic nodule image and determine the optimal sensitivity.

[0069] S4. The processed polymetallic nodule image is expanded by a morphological reconstruction method to further obtain a more accurate polymetallic nodule coverage.

[0070] S5. Identify the processed polymetallic nodule image to determine whether it is circular or elliptical, and determine the particle size of the polymetallic nodules. The specific steps include: step (1): using edge detection method to identify the edge of the polymetallic nodules in the image, so that the outline of the polymetallic nodules is more obvious; step (2): using Hough circle transform and Hough ellipse transform to identify the circular and elliptical shapes in the image respectively; step (3): verifying the detected shapes to ensure that the correct circular and elliptical shapes are identified after the transformation; step (4): statistically analyzing the circular and elliptical polymetallic nodules obtained in step (3), statistically analyzing the diameter of the circular nodules, the major axis length and the minor axis length of the elliptical nodules, and analyzing their relationship with the nodule quality.

[0071] S6. Compare with existing nodule data, establish a linear relationship between mass and cross-sectional area, and calculate the mass of polymetallic nodules. The steps mainly include: step (1): measure the cross-sectional area and mass of existing spheroidal and ellipsoidal nodules; step (2): establish a linear relationship between mass and cross-sectional area of ​​spheroidal and ellipsoidal nodules based on the relationship between mass and cross-sectional area; step (3): based on the circular and elliptical nodules in the collected image, the circular nodules are related to the cross-sectional area by the diameter, and the elliptical nodules are related to the cross-sectional area by the major axis length and minor axis length; step (4): substitute the linear relationship between mass and cross-sectional area of ​​nodules in step (2) to obtain the mass of nodules.

[0072] S7. Calculate the abundance of polymetallic nodules in the area based on the nodule mass.

[0073] S8. The optimal route for the mining vehicle is determined by comparing the detected abundance of deep-sea polymetallic nodules with the energy utilization, collection rate, and efficiency of each route. The onboard camera is used to determine the specific operating conditions along the route. The mining vehicle's operating conditions are categorized as extremely soft sediments, heterogeneous sediments, steep seamounts, and rugged terrain.

[0074] S9. Based on the determined polymetallic nodule particle size, polymetallic nodule abundance, achievable energy utilization, collection rate, collection efficiency, and the mining vehicle's route and operating conditions, the vehicle control system further performs intelligent adjustment of collection parameters. This adjustment is divided into Coanda effect-based collection adjustment and dual-row jet collection adjustment, with the following characteristics:

[0075] (1) When using the Coanda effect jet collection, the parameters are set to the suction port height of 100-120 mm, the jet port height of 20-25 mm, and 12 circular jet nozzles are configured in the center, each nozzle diameter d The height of the collection device from the seabed is 30-40 mm, and the nozzle spacing is 10-20 mm. H 60-120 mm, jet angle α 40-50°, convex surface wall radius R 300-400 mm.

[0076] The specific steps are as follows:

[0077] Step (1): Transmitting the particle size and abundance information of polymetallic nodules to the intelligent adjustment module based on Coanda effect acquisition;

[0078] Step (2): The information in step (1) is transmitted to the nozzle jet velocity adjustment module and the vehicle forward speed adjustment module; the nozzle jet velocity is further adjusted based on the particle size and abundance information of the polymetallic nodules, and the nozzle jet velocity is adjusted to 8-10 m / s, 11-12 m / s, and 12-14 m / s respectively. The pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, thereby achieving the purpose of adjusting the nozzle jet velocity. The vehicle forward speed is further adjusted based on the particle size and abundance information of the polymetallic nodules, and the vehicle forward speed is adjusted to 0.25-0.3 m / s and 0.5-0.8 m / s respectively. The vehicle intelligent sensor optimization algorithm is used to transmit the information to the vehicle central control system to dynamically plan the vehicle driving speed.

[0079] (2) When using double-row jet collection, the parameters set the nozzle height H The distance between the front and rear nozzles is 40-45 mm B Set the front nozzle angle to 260-320 mm α The rear nozzle angle is 30° β The angle is 55°, and twelve circular nozzles are set in double rows, with two opposite nozzles forming a group of six groups in total, and the diameter d of each nozzle is 10-15 mm.

[0080] The specific steps are as follows:

[0081] Step (1): Transmitting the particle size and abundance information of polymetallic nodules to the double-row jet collection intelligent adjustment module;

[0082] Step (2): The information in step (1) is transmitted to the nozzle jet velocity adjustment module and the nozzle start-up quantity adjustment module; further, according to the particle size and abundance information of the polymetallic nodules, the nozzle jet velocity is intelligently adjusted, using 11-13 m / s and 13-15 m / s respectively, and the pressure of the ejected fluid is controlled by adjusting the water pressure or the air pressure, thereby achieving the purpose of adjusting the nozzle jet velocity. Further, according to the particle size and abundance information of the polymetallic nodules, the number of nozzle start-up is intelligently adjusted, using 2, 3, and 5 groups of nozzles respectively, and receiving the data transmitted by the detection system through the vehicle control system to control and dynamically adjust the number of nozzle start-up.

[0083] Through intelligent adjustment of acquisition parameters, it can reduce unnecessary energy consumption, lower energy utilization, and improve acquisition efficiency. At the same time, it can use better acquisition parameters for collection to reduce disturbance to seabed sediments and reduce the generation of plumes.

[0084] S10. The polymetallic nodules flushed by the jet are collected by suction through a conveying hose into a polymetallic nodule transfer station on the mining vehicle. Collection is primarily accomplished by suction, whereby a power device such as a water pump propels the polymetallic nodules through the conveying hose into the transfer station.

[0085] S11. The polymetallic nodule pipeline lifting system is operated by hydraulic lifting. It uses the power of fluid lifting to overcome the static pressure of seawater and the gravity of the slurry itself, and realizes vertical transportation of materials through conveying hoses and lifts them to deep-sea mining vessels.

[0086] S12. Conduct another abundance test on the mined area by testing the abundance of polymetallic nodules, that is, test whether the collection results meet the standards.

[0087] S13. The deep-sea polymetallic nodule collection system receives the detection results. If the collection results do not reach 80%, the system adjusts the results based on the newly obtained abundance results and then collects them again. If the collection results reach 80%, the system ends the collection.

[0088] In addition to the above embodiments, the present invention may also have other implementations. Any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection required by the present invention.

Claims

1. A method for intelligent collection of deep-sea polymetallic nodules, characterized in that: The steps include: S1. Mount a seabed camera on a deep-sea polymetallic nodule mining vehicle and debug the camera in the sea area to be mined. After debugging is completed and mining is ready, mining begins to capture images of seabed polymetallic nodules. S2, grayscale processing is performed on the collected images, and all collected images are converted into grayscale images; S3, binarizing the pre-processed polymetallic nodule image and determining the optimal sensitivity; S4. dilating the processed polymetallic nodule image by a morphological reconstruction method to further obtain a more accurate polymetallic nodule coverage rate; S5. Identifying the processed polymetallic nodule image to determine whether it is circular or elliptical, and determining the particle size of the polymetallic nodules. The specific steps include: Step (1): using edge detection method to identify the edge of polymetallic nodules in the image, so as to make the outline of polymetallic nodules more obvious; Step (2): Use Hough circle transform and Hough ellipse transform to identify circles and ellipses in the image respectively; Step (3): Verify the detected shapes to ensure that the correct circular and elliptical shapes are recognized after the transformation; Step (4): Counting the circular and elliptical polymetallic nodules obtained in step (3), respectively, counting the diameter of the circular nodules, the major axis length and the minor axis length of the elliptical nodules, and analyzing their relationship with the nodule mass; S6. Compare with existing nodule data to establish a linear relationship between mass and cross-sectional area to calculate the mass of polymetallic nodules. The steps mainly include: Step (1): measuring the cross-sectional area and mass of the existing spheroidal and ellipsoidal nodules; Step (2): Based on the relationship between mass and cross-sectional area, a linear relationship between mass and cross-sectional area of ​​spheroidal nodules and ellipsoidal nodules is established; Step (3): according to the circular and elliptical nodules in the collected images, the circular nodules are related to the cross-sectional area by the diameter, and the elliptical nodules are related to the cross-sectional area by the major axis length and the minor axis length; Step (4): Substitute the nodule mass-cross-sectional area linear relationship in step (2) to obtain the nodule mass; S7. Calculate the abundance of polymetallic nodules in the region based on the nodule mass; S8. Comprehensively analyze and compare the energy utilization rate, collection rate, and collection efficiency that can be achieved on each route, select the optimal route for the mining vehicle, and determine the specific working conditions of the mining vehicle's route; S9, based on the polymetallic nodule particle size determined by S5, the polymetallic nodule abundance determined by S7, and the mining vehicle's route and working conditions determined by S8, further collects parameters and makes intelligent adjustments. This is divided into Coanda effect-based collection and adjustment and double-row jet collection and adjustment, with the following characteristics: (1) When using the Coanda effect-based jet collection, the specific steps are as follows: Step (1): Transmitting the particle size and abundance information of polymetallic nodules to the intelligent adjustment module based on Coanda effect acquisition; Step (2): transmitting the information of step (1) to the nozzle jet speed adjustment module and the vehicle forward speed adjustment module; further adjusting the nozzle jet speed according to the particle size and abundance information of the polymetallic nodules, using low speed II, medium speed II, and high speed II, and controlling the pressure of the ejected fluid by adjusting the water pressure or adjusting the air pressure, thereby achieving the purpose of adjusting the nozzle jet speed; further adjusting the vehicle forward speed according to the particle size and abundance information of the polymetallic nodules, using low speed III and high speed III, and transmitting the information to the vehicle central control system through the on-board intelligent sensor optimization algorithm to dynamically plan the vehicle driving speed; (2) When using double-row jet collection, the specific steps are as follows: Step (1): Transmitting the particle size and abundance information of polymetallic nodules to the double-row jet collection intelligent adjustment module; Step (2): transmitting the information of step (1) to the nozzle jet velocity adjustment module and the nozzle start-up quantity adjustment module; further, performing intelligent adjustment of the nozzle jet velocity according to the particle size and abundance information of the polymetallic nodules, adopting low speed I and high speed I, and controlling the pressure of the ejected fluid by adjusting the water pressure or the air pressure, thereby achieving the purpose of adjusting the nozzle jet velocity; further, performing intelligent adjustment of the nozzle start-up quantity according to the particle size and abundance information of the polymetallic nodules, receiving the data transmitted by the detection system through the vehicle control system, and controlling and dynamically adjusting the nozzle start-up quantity; S10, collecting the polymetallic nodules flushed out by the jet through a suction device; S11. lifting the collected polymetallic nodules to a collection vessel through a pipeline lifting system; S12, testing the collection results of the mining area; S13. Receive the detected result. If the collection rate does not reach 80%, repeat the steps after S8 to re-collect. If the collection result reaches more than 80%, end the collection.

2. The method for intelligent collection of deep-sea polymetallic nodules according to claim 1, characterized in that: In S2, the grayscale processing is to unify the RGB values ​​of each pixel of the image into the same value; after grayscale processing, the image changes from three channels to a single channel; the unification is specifically carried out in the following manner: Gray(i,j)={R(i,j)+G(i,j)+B(i,j)} / 3 Among them, Gray(i,j) is the grayscale value of the position, R(i,j), G(i,j), and B(i,j) are the three color components of the pixel value RGB at the position respectively.

3. The method for intelligent collection of deep-sea polymetallic nodules according to claim 1, characterized in that: In S8, the mining vehicle operating conditions are divided into extremely soft sediments, heterogeneous sediments, steep seamounts, rugged terrain, etc.

4. The method for intelligent collection of deep-sea polymetallic nodules according to claim 1, characterized in that: In the above-mentioned S9, when the jet collection technology based on the Coanda effect is adopted, the suction port height is set to 100-120 mm, the jet port height is set to 20-25 mm, and 12 circular jet nozzles are arranged at the center position, each nozzle diameter d is 30-40 mm, and the nozzle spacing is 10-20 mm; the height H of the collection device from the seabed is 80-120 mm, the jet angle α is 40-50°, and the convex surface wall radius R is 300-400 mm.

5. The method for intelligent collection of deep-sea polymetallic nodules according to claim 1, characterized in that: In the S9, when the double-row jet collection technology is adopted, the nozzle height H is set to 40-45 mm, the front and rear nozzle spacing B is 260-320 mm, the front nozzle angle α is set to 30-45°, and the rear nozzle angle β is set to 45-55°. A total of twelve circular nozzles are set in double rows, and each two opposing nozzles form a group of six groups, and the diameter d of each nozzle is 10-15 mm.

6. The method for intelligent collection of deep-sea polymetallic nodules according to claim 1, characterized in that: In the above S9, when using the jet collection based on the Coanda effect, the nozzle jet velocity v in step 2 can be specifically divided into: small particle size nodules adopt low speed II: 6-12m / s; medium particle size nodules adopt medium speed II: 8-13m / s; large particle size nodules adopt high speed II: 11-16m / s; the vehicle forward speed in step 2 can be specifically divided into: small and medium particle size nodules adopt low speed III: 0.25-0.5m / s; large particle size nodules adopt high speed III: 0.5-1m / s.

7. The method for intelligent collection of deep-sea polymetallic nodules according to claim 1, characterized in that: In the above S9, when double-row jet collection is used, the nozzle jet speed in step 2 can be specifically divided into: small and medium particle size nodules use low speed I: 8-13m / s; large particle size nodules use high speed I: 11-16m / s; in step 2, taking a 12-nozzle mining vehicle as an example, the number of double-row jet nozzles started can be divided into: (1) small particle size nodules, start 1-2 groups of nozzles; (2) medium particle size nodules, start 3-4 groups of nozzles; (3) large particle size nodules, start 5-6 groups of nozzles.

8. The method for intelligent collection of deep-sea polymetallic nodules according to claim 1, characterized in that: In the above-mentioned S10, the polymetallic nodules are collected mainly by suction. Under the push of a water pump, the polymetallic nodules are sucked into the transfer station through a conveying hose.

9. The method for intelligent collection of deep-sea polymetallic nodules according to claim 1, characterized in that: In the above S11, the polymetallic nodule pipeline lifting system is carried out by hydraulic lifting, using the power of fluid lifting to overcome the static pressure of seawater and the gravity of the slurry itself, and realize vertical transportation of materials through the conveying hose.

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